An Application of Feedback Linearizing Controller with Disturbance Observer for DC Motor Real-Time Speed Control

Abstract

The main objective of this paper is the hardware implementation of robust speed and torque control of DC motors. The proposed speed controller is a feedback linearizing controller (FLC) with a disturbance observer (DO). The designed control circuit can withstand non-linearities of the system and other unpredictable disturbances. In addition, the exact mathematical modelling of the controller is used and thus the system can be easily reproduced to any higher rating. The converter used to interface the DC motor is a bi-directional H bridge converter that can supply and accept power at any voltage conditions. The developed system is experimentally tested under different case studies of motoring and regenerating conditions. From the results, it is verified that the objective is met, and the designed prototype system can work accurately to follow the speed and load torque. The designed system can be used for variety of industrial applications including electric traction, robotics, and various fixed as well as variable speed electric drives.